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@ -82,7 +82,7 @@ static const float earth_rot_speed_rad_msec = 7.272205e-8; //2*PI / (1440*60);
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static const float bolt_thread_mm = 1.25; |
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//static const float coef = 2*PI*axis_hinge_dist_mm * nr_teeth_big / (bolt_thread_mm * nr_teeth_small);
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static const unsigned int microstepping_div = 16; |
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static const unsigned int microstepping_div = 32; |
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static const unsigned int nr_steps = 200 * microstepping_div; |
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static const float stepper_gear_rad_per_step = (2*PI) / nr_steps; |
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@ -119,7 +119,7 @@ static struct {
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unsigned int expired; |
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} active_timer; |
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static unsigned long global_period_msec = 10000;//(2*60+51)*1000;
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static unsigned long global_period_msec = 100;//(2*60+51)*1000;
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static enum control_state_e { |
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STARTUP = -1, |
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@ -403,7 +403,7 @@ void setup() {
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dwprint("Serial setup"); |
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// Set target motor RPM to 1RPM
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stepper.setRPM(200); |
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stepper.setRPM(30); |
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// Set full speed mode (microstepping also works for smoother hand movement
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stepper.setMicrostep(microstepping_div); |
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dwprint("Microstepping is"); |
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